Magnetically-actuated intracorporeal biopsy robot based on Kresling Origami  

作　　者：Long Huang Tingcong Xie Lairong Yin 

机构地区：[1]School of Automotive and Mechanical Engineering,Changsha University of Science and Technology,Changsha 410114,China [2]Hunan Provincial Key Laboratory of Intelligent Manufacturing Technology for High-performance Mechanical Equipment,Changsha University of Science and Technology,Changsha 410114,China

出　　处：《Theoretical & Applied Mechanics Letters》2025年第1期49-56,共8页力学快报(英文版)

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.51805047 and 52175003);the Outstanding Youth Program of Hunan Education Department(Grant No.23B0335);the Natural Science Foundation of Hunan Province(Grant Nos.2023JJ30021 and 2023JJ50077).

摘　　要：The introduction of wireless capsule endoscopy has brought a revolutionary change in the diagnostic procedures for gastrointestinal disorders.Biopsy,an essential procedure for disease diagnosis,has been integrated into robotic capsule endoscopy to augment diagnostic capabilities.In this study,we propose a magnetically driven biopsy robot based on a Kresling origami.Considering the bistable properties of Krelsing origami and the elasticity of the creases,a foldable structure of the robot with constant force characteristics is designed.The folding motion of the structure is used to deploy the needle into the target tissue.The robot is capable of performing rolling motion under the control of an external magnetic drive system,and a fine needle biopsy technique is used to collect deep tissue samples.We also conduct in vitro rolling experiments and sampling experiments on apple tissues and pork tissues,which verify the performance of the robot.

关 键 词：Kresling origami Fine needle biopsy Magnetic actuation Constant force characteristics 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]